A pneumatic actuator is highly nonlinear, which makes the precise position control of this difficult to achieve. In order achieve control, selecting a suitable model structure prerequisite before estimation. This selection based upon an understanding physical systems. paper, black-box chosen as system identification for modeling Intelligent Pneumatic Actuator (IPA) and variety parametric struct...

The deformable fluid actuators available on the market, i.e. pneumatic muscles and pneumatic springs, are designed to mainly exert compressive or tensile forces. This paper deals with a novel fluid deformable actuator, with three membranes, called BiFAc3, whose particular feature is the ability to exert both tensile and compressive forces. The structure of the actuator is based on three cylindr...

This work describes a method for the simulation of multiple pneumatic actuators in a context of multi body mechanical systems. The model of the single actuator is based on elliptical approximation of non-linear pneumatic devices; friction and sticking phenomena are considered as well. Pneumatic devices introduce forces and new state variables into the complete multibody system: we developed a s...

Soft actuators have been employed in various fields recently. A miniature pneumatic bending rubber actuator is one of the soft actuators. This actuator will be used for medical and biological fields. Its flexibility and high safety are suitable for fragile objects. However, its modeling is difficult due to its nonlinearity. There are no suitable sensors to measure the output of this actuator. I...

Pneumatic actuators offer several advantages over electromechanical and hydraulic actuators for positioning applications. Nonetheless, pneumatic actuators are subject to high friction forces, dead band and dead time, which make fast and accurate position control difficult to achieve. This research paper presents the process of controller identification, design, modeling and control for pneumati...

The development of biochips is a major thrust of the rapidly growing biotechnology industry. Research on biomedical or biochemical analysis miniaturization and integration has made explosive progress by using biochips recently. For example, capillary electrophoresis (CE), sample preconcentration, genomic DNA extraction, and DNA hybridization have been successfully miniaturized and operated in a...

This paper presents the design of a magnetic resonance imaging (MRI) compatible pneumatic actuator regulated by piezoelectric valve for image guided robotic intervention. After comparing pneumatic, hydraulic and piezoelectric MRI compatible actuation technologies, we present a piezoelectric valve regulated pneumatic actuation system consisted of PC, custom servo board driver, piezoelectric valv...

This paper reports on the use of a new actuator, called Pleated Pneumatic Artificial Muscle, in a one dimensional set-up, it is build as a footless leg with only the knee powered by a pair of Pleated Pneumatic Artificial Muscles. The main goal of this study is the evaluation of the adaptable passive behaviour of these Artificial Muscles in a leg, which can be exploited for an energy efficient w...

This paper discusses thermodynamic models of air inside pneumatic actuator chambers. In servo-pneumatics common practice, these models are simplified by neglecting the temperature dynamics. Classical models in the literature assume the temperature inside the pneumatic chamber either to be constant or to follow a polytropic law. Furthermore, the mixing process of air entering the chamber and hea...

This paper describes the simulation of movement control of a one-degree-of-freedom articulated robot arm SCARA actuated by a pair of McKibben pneumatic artificial muscles. The pneumatic artificial muscle is the actuator and emulates the behavior of biological muscles; due to its nonlinear behavior, there is also a need to develop control systems for robot arms using this type of actuator. Resea...